ASCII - Command PGEARI    
Syntax Transmit PGEARI [Data]    
Syntax Receive PGEARI <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer32   CANBus Object Number 35CA (hex)
DIM µm   PROFIBUS PNU 1802 (dec) IND = 1 (dec)
Range long int   DPR 202 (dec)
Default 10000    
Opmode All   Data Type Bus/DPR Integer32
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.20    
Configuration No   Last Change of this Object 1.7
Function Group Position Controller   EEPROM Yes
Short Description Position Resolution (Numerator)

Description

The parameter PGEARI is used in conjunction with the PGEARO parameter to convert the control loop position and speed from SI units into increments.
The PGEARO parameter contains the number of increments that are moved if the path to be moved has a length of PGEARI.
The conversion is made according to the following formula:

Position[increments] = Position[SI] * PGEARO / PGEARI
Velocity[increments] = Velocity[SI] * PGEARO / PGEARI / 4000

If PGEARI=PGEARO, then there will be no conversion from SI units into increments. In this case, the position and velocity must be given in increments.

Position: 1046576 increments/turn for PRBASE = 20, or 65536 increments/turn for PRBASE = 16

Velocity: 140/32 * speed in RPM

1. Example

PGEARI = 10000
PGEARO = 1048576
PRBASE = 20

The motion task position should be given in µm with a resolution of 10 mm/rev. The internal resolution of 20 Bit/rev (PRBASE=20) is used. Followind settings have to be made:

Position: 1046576 counts/rev at PRBASE = 20 or 65536 counts/rev at PRBASE = 16.

All settings regarding position (PFB, O_P, PE, PEMAX, PEINPOS) are made in µm, the settings regarding speed/velocity in µm/sec, all settings regarding acceleration in 1000µm/sec²

2. Example

PGEARI = 3600
PGEARO = 65536
PRBASE = 16

The position is given in 0.1 degree steps with a resolution of 360.0 degrees/rev. The internal resolution of 16 Bit/rev (PRBASE = 16) is used. Following settings have to be made:

All settings regarding position (PFB, O_P, PE, PEMAX, PEINPOS) are made in 0.1*degree, the settings regarding speed/velocity in 0.1*degree/sec, all settings regarding acceleration in 1000*0.1*degree/sec²

The user units that at are used for PGEARI and PGEARO are defined by PUNIT.

Example:
LINEARMOTOR
CENTER_DRIVE
OUTSIDE_DRIVE
SPINDLE_DRIVE
BELTDRIVE